//Handles synchronous commands that need queueing for long running operations.
public bool syncCommand( DomeCmds inCmd, double cmdArg )
{
bool outputStatus = false;
if ( inCmd == DomeCmds.ABORT )
{
//clear down the existing queue - leave state at aborting.
domeState = DomeStates.ABORTING;
this.cmdQueue.Clear();
logger.LogMessage( this.GetType().ToString(), " ABORT coomand detected - clearing CMD queue of: " + cmdQueue.Count + " entries");
//let timer handle the dome and shutter.
}
else
{
//NOT IMPLEMENTED: enqueue the new command in case there are existing long-running commands.
// this allows the driver to respond rapidly but long commands to take their time in the right order for multiple clients.
switch( inCmd )
{
case DomeCmds.PARK:
outputStatus = rotateDome( parkAzimuth);
break;
case DomeCmds.SLEW_TO_AZIMUTH:
outputStatus = rotateDome( (int) cmdArg );
break;
case DomeCmds.SLEW_TO_ALTITUDE:
outputStatus = moveShutter( (int) cmdArg );
break;
case DomeCmds.SYNC_TO_AZIMUTH:
azimuth = (int)cmdArg;
outputStatus = true;
break;
case DomeCmds.SET_SLAVED:
azimuth = (int)cmdArg;
outputStatus = true;
break;
case DomeCmds.OPEN_SHUTTER:
outputStatus = moveShutter( 110 );
break;
case DomeCmds.CLOSE_SHUTTER:
outputStatus = moveShutter( 0 );
break;
// logger.LogMessage( this.GetType().ToString(), " Setting new CMD tuple: " + inCmd + " with value: " + cmdArg + " to queue");
// cmdQueue.Enqueue( new CmdTuple( inCmd, cmdArg ) );
default:
throw new ASCOM.InvalidOperationException("This cmd is not implemented in syncCommand handler, check for direct function calls.");
break;
}
}
return true;
}
private bool rotateDome( int target )
{
bool status = false;
bool direction = true;
byte[] outData = new byte[5];
String dateString;
String stateString;
char[] charString;
int magnitude = (target - (int) azimuth)/360;
//Check current azimuth
//Estimate shortest direction and distance to travel
if( magnitude > 0 && magnitude <180 )
{
direction = true;
}
else if ( magnitude > 180 && magnitude <360 )
{
direction = false;
magnitude = magnitude -180;
}
else if( magnitude < 0 && magnitude > -180 )
{
direction = false;
}
else if( magnitude < -180 && magnitude > -360 )
{
direction = true;
magnitude = 360 + magnitude;
}
//Setup slew
//LCD
//Move to row 4
outData[0] = (byte) 0x01 ;//go to row
outData[1] = (byte) 0x03 ;//row
if ( obboPort.Write( (byte) 0x55, (byte) config.I2CLCDAddr, outData, 2 ) )
retVal = 0;
//Move to first col
outData[0] = (byte) 0x02 ;//go to col
outData[1] = (byte) 0x00 ;//col
if ( obboPort.Write( (byte) 0x55, (byte) config.I2CLCDAddr, outData, outData.Length ) )
retVal = 0;
//Write 'slewing' string
stateString = "slewing";
outData = new byte[stateString.Length];
charString = stateString.ToCharArray();
for( int i = 0; i< outString.Length; i++)
{
outData[i] = (byte) charString[i];
}
if ( obboPort.Write( (byte) 0x55, (byte) config.I2CLCDAddr, outData, outData.Length ) )
retVal = 0;
//Magnetometer - update azimuth
outString = domePort.Read( 0x55, config.I2CMagnetometerAddress, outData, outData.Length );
//motor controller
//Set motor direction
outData[0] = (byte) 0x01 ;//set motor direction
outData[1] = (byte) 0x03 ;//motor direction
if ( obboPort.Write( (byte) 0x55, (byte) config.I2CLCDAddr, outData, outData.Length ) )
retVal = 0;
//Wait for complete
while( (target - azimuth) > (int) positioningPrecision )
{
if ()
{
}
//Set motor speed
outData[0] = (byte) 0x01 ;//set motor direction
outData[1] = (byte) 0x03 ;//motor direction
if ( obboPort.Write( (byte) 0x55, (byte) config.I2CLCDAddr, outData, 2 ) )
retVal = 0;
//Magnetometer - update azimuth
outString = domePort.Read( 0x55, config.I2CMagnetometerAddress, outData, 2 );
//delay here if poss - maybe a 'sleep(500)'
}
//Check we have landed.
if(( target - azimuth ) < (int) positioningPrecision )
{
domeState = DomeStates.STOPPED;
status = true;
}
else
{
logger.LogMessage(this.GetType().ToString(), "Failed to reach requested dome azimuth: " + target );
}
return status;
}
